int32 velocity_controller
int32 gait
float32 swing_duration
float32 model_scale_x
float32 model_scale_y
float32 body_height
float32 foot_height
int32 swing_traj_type
int32 ground_model
float32 friction
int32 free_leg
float32 swaying_duration
float32 jump_distance
float32 jump_angle